CN109217346B - Back-to-back DC power transmission system and control method based on virtual synchronous machine - Google Patents

Back-to-back DC power transmission system and control method based on virtual synchronous machine Download PDF

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CN109217346B
CN109217346B CN201710547610.7A CN201710547610A CN109217346B CN 109217346 B CN109217346 B CN 109217346B CN 201710547610 A CN201710547610 A CN 201710547610A CN 109217346 B CN109217346 B CN 109217346B
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power
inverter
difference
adjustment
converter
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CN109217346A (en
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杨美娟
吴金龙
王先为
刘永慧
姚为正
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State Grid Corp of China SGCC
Xuji Group Co Ltd
XJ Electric Co Ltd
Xian XJ Power Electronics Technology Co Ltd
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State Grid Corp of China SGCC
Xuji Group Co Ltd
XJ Electric Co Ltd
Xian XJ Power Electronics Technology Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for AC mains or AC distribution networks
    • H02J3/36—Arrangements for transfer of electric power between AC networks via a high-tension DC link
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for AC mains or AC distribution networks
    • H02J3/18—Arrangements for adjusting, eliminating or compensating reactive power in networks
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for AC mains or AC distribution networks
    • H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for AC mains or AC distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for AC mains or AC distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/388—Islanding, i.e. disconnection of local power supply from the network
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/30—Reactive power compensation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/60—Arrangements for transfer of electric power between AC networks or generators via a high voltage DC link [HVCD]

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Supply And Distribution Of Alternating Current (AREA)
  • Control Of Eletrric Generators (AREA)

Abstract

本发明涉及基于虚拟同步机的背靠背直流输电系统及控制方法，系统中包含两个直流侧直接连接的换流器，采集的实际直流电压与设定的直流电压指令的差值，经调节器调节，生成第一功率差值；将第二换流器的虚拟同步机控制模式中进行有功调节的第二机械功率取反，并与第一功率差值求和，作为第一换流器的虚拟同步机控制模式中进行有功调节的第一机械功率，第一、第二机械功率用于生成第一、第二换流器交流电的电角度，本发明基于虚拟同步机技术的背靠背直流输电系统，能在发电机组装机容量需求减少、电网等效旋转惯量降低的情况下，有效提高系统的调频能力，保证电力系统安全稳定运行。

Figure 201710547610

The invention relates to a back-to-back direct current transmission system and a control method based on a virtual synchronous machine. The system includes two converters directly connected to the direct current side, and the difference between the collected actual direct current voltage and the set direct current voltage command is adjusted by the regulator. , generate the first power difference; invert the second mechanical power for active power adjustment in the virtual synchronous machine control mode of the second converter, and sum it with the first power difference, as the virtual synchronous machine of the first converter. The first mechanical power for active power adjustment in the synchronous machine control mode, and the first and second mechanical powers are used to generate the electrical angle of the alternating current of the first and second inverters. It can effectively improve the frequency regulation capability of the system and ensure the safe and stable operation of the power system under the condition that the capacity demand of the generator assembly is reduced and the equivalent rotational inertia of the power grid is reduced.

Figure 201710547610

Description

Back-to-back direct current power transmission system based on virtual synchronous machine and control method
Technical Field
The invention belongs to the field of high-voltage power transmission, and particularly relates to a back-to-back direct-current power transmission system based on a virtual synchronous machine and a control method.
Background
With the adjustment of energy structures in China and the promotion of power grid construction planning, the flexible direct current transmission system can be widely applied to the advantages of being capable of supplying power to island areas and the like by independently, flexibly and controllably using active power and reactive power without power grid commutation voltage, and is developed towards the direction of high voltage and large capacity.
At present, a Voltage Source Converter Based High Voltage Direct Current transmission system (VSC-HVDC) Based on a fully-controlled power electronic device mostly adopts conventional Direct Current control Based on PI double-loop decoupling under a synchronous rotating coordinate system, and active and reactive control targets in the control are mostly fixed numerical values, and cannot actively respond to changes of system Voltage and frequency, and cannot play a role in supporting Voltage and frequency of a High-capacity VSC on an alternating Current system. And VSC shows zero inertia characteristic, and along with VSC-HVDC's permeability in the electric wire netting constantly improves, the corresponding reduction of generator kludge capacity demand in the electric power system, electric wire netting equivalent rotary inertia reduces, leads to system frequency modulation ability to obviously weaken, is very unfavorable for electric power system safety and stability to operate. In addition, the VSC-HVDC under the conventional control mode needs to realize uninterrupted operation under an island mode and a networking mode through switching of the control mode, so that high requirements are provided for a smooth and seamless mode switching strategy of the VSC, the design difficulty of a control system is increased, electrical impact in the switching process is difficult to avoid, and the VSC-HVDC is not favorable for load safety and stability power supply.
In recent years, a VSC control technology based on a virtual synchronous generator is gradually developed in micro-grid systems, wind power generation systems and other systems, and the VSC embodies the operating characteristics of the synchronous generator by simulating the mechanical and electrical equations, frequency modulation, voltage regulation control and the like of the traditional synchronous generator, so that the voltage and the frequency of an electric power system are actively regulated, and the VSC control technology is suitable for parallel operation of a single machine and multiple machines. This is of great value for the VSC-HVDC system to solve the above problems.
A paper entitled "virtual synchronous generator technology and expedition" in volume 21 of journal of "power system automation" is introduced to a Virtual Synchronous Generator (VSG) and an operation control strategy thereof, as shown in fig. 1, the virtual synchronous generator includes a main circuit and a control system, the control system is a core for realizing the virtual synchronous generator, and mainly includes a VSG body model and a control algorithm, the control algorithm mainly simulates characteristics of active frequency modulation, reactive voltage regulation and the like of the synchronous generator from external characteristics, wherein active-frequency control regulates power by detecting a power difference Δ P to control virtual mechanical torque output, as shown in fig. 2.
However, currently, the academic community researches on the Virtual Synchronous Machine (VSM) technology only focuses on a single VSC or frequency modulation and voltage regulation control thereof. When the method is applied to a back-to-back VSC-HVDC system formed by direct connection of direct current sides without a direct current circuit, how to ensure the stability of direct current voltage of the back-to-back system, realize the frequency control of a double-end alternating current system and adapt to the island working condition of the alternating current system at any end is the primary problem faced by the popularization of the technology to the VSC-HVDC system, and deep research needs to be carried out.
Disclosure of Invention
The invention aims to provide a back-to-back direct-current power transmission system based on a virtual synchronous machine and a control method, which are used for effectively improving the frequency modulation capability of the system and ensuring the safe and stable operation of a power system under the conditions that the installed capacity requirement of a generator set is reduced and the equivalent rotating inertia of a power grid is reduced.
In order to solve the technical problem, the invention provides a back-to-back direct current power transmission system control method based on a virtual synchronous machine, which comprises the following steps:
the direct current transmission system is controlled by a virtual synchronous machine, wherein a first converter and a second converter are arranged to generate respective mechanical power and reference voltage amplitude values through respective active regulation and reactive regulation, and modulation waves for controlling the first converter and the second converter are generated through a virtual synchronous machine body algorithm;
the difference value of the collected actual direct current voltage and a set direct current voltage instruction is regulated by a regulator to generate a first power difference value; and the mechanical power of the second converter is inverted and is summed with the first power difference value to be used as the mechanical power of the first converter.
And summing the set power instruction, the second active regulating power difference value obtained according to the frequency controller of the second converter and the first active regulating power difference value obtained according to the frequency controller of the first converter to obtain the mechanical power of the second converter.
The set second frequency instruction is differed with a second actual frequency detected by a second current converter and multiplied by a second active power regulating coefficient to obtain a second active power regulating power difference value; and the set first frequency command is differed with the first actual frequency detected by the first converter and multiplied by a first active regulation coefficient to obtain the first active regulation power difference value.
Reactive power regulation of the first converter comprises the following sub-steps:
multiplying the difference between the set first reactive instruction and the first actual reactive power detected by the first converter by a first reactive regulation coefficient to obtain a first regulation difference value of the reference voltage of the first converter; the set first voltage instruction is differed from the actual alternating voltage detected by the first converter, and a second regulation difference value of the reference voltage of the first converter is obtained through regulation by a regulator;
and summing the first regulating difference value of the reference voltage of the first converter, the second regulating difference value of the reference voltage of the first converter and the set first voltage instruction to generate the reference voltage amplitude of the first converter.
Reactive power regulation of the second converter comprises the following sub-steps:
multiplying the difference between the set second reactive instruction and the second actual reactive power detected by the second converter by a second reactive power regulation coefficient to obtain a first regulation difference value of the reference voltage of the second converter; the set second voltage instruction is differed from the actual alternating voltage detected by the second converter, and a second regulating difference value of the reference voltage of the second converter is obtained through regulation by a regulator;
and summing the first adjustment difference value of the reference voltage of the second converter, the second adjustment difference value of the reference voltage of the second converter and the set second voltage instruction to generate the reference voltage amplitude of the second converter.
In order to solve the technical problem, the invention further provides a back-to-back direct current power transmission system based on the virtual synchronous machine, which comprises a first current converter and a second current converter, a first active adjusting module, a second active adjusting module and a virtual synchronous machine body algorithm module, wherein the first current converter and the second current converter are directly connected at the direct current sides;
the second active power regulating module: for generating mechanical power of the second converter;
a first active power conditioning module: the power control device is used for adjusting the difference value between the collected actual direct current voltage and a set direct current voltage instruction through the regulator to generate a first power difference value; inverting the mechanical power of the second converter, and summing the inverted mechanical power and the first power difference value to obtain the mechanical power of the first converter;
the virtual synchronous machine body algorithm module: and the AC power supply is used for respectively generating an AC current instruction and a phase angle of the first current converter and the second current converter according to the output of the first active regulating module and the second active regulating module.
The second active power regulating module is further configured to sum a set power instruction, a second active power regulating power difference value obtained according to the frequency controller of the second converter, and a first active power regulating power difference value obtained according to the frequency controller of the first converter, so as to obtain the mechanical power of the second converter.
The set second frequency instruction is differed with a second actual frequency detected by a second current converter and multiplied by a second active power regulating coefficient to obtain a second active power regulating power difference value; and the set first frequency command is differed with the first actual frequency detected by the first converter and multiplied by a first active regulation coefficient to obtain the first active regulation power difference value.
Still include the first adjusting module that does not successfully: the first reactive power regulating device is used for multiplying the difference between the set first reactive instruction and the first actual reactive power detected by the first converter by a first reactive power regulating coefficient to obtain a first regulating difference value of the reference voltage of the first converter; the set first voltage instruction is differed from the actual alternating voltage detected by the first converter, and a second regulation difference value of the reference voltage of the first converter is obtained through regulation by a regulator; and summing the first regulating difference value of the reference voltage of the first converter, the second regulating difference value of the reference voltage of the first converter and the set first voltage instruction to generate the reference voltage amplitude of the first converter.
Still include the second reactive power adjustment module: the second reactive power regulating device is used for multiplying a second reactive power command which is set and a second actual reactive power detected by the second converter by a second reactive power regulating coefficient to obtain a first regulating difference value of the reference voltage of the second converter; the set second voltage instruction is differed from the actual alternating voltage detected by the second converter, and a second regulating difference value of the reference voltage of the second converter is obtained through regulation by a regulator; and summing the first adjustment difference value of the reference voltage of the second converter, the second adjustment difference value of the reference voltage of the second converter and a set second voltage instruction to generate the reference voltage amplitude of the second converter.
The invention has the beneficial effects that: the difference value of the collected actual direct current voltage and the set direct current voltage instruction is adjusted by the adjuster to generate a first power difference value; the second mechanical power which is subjected to active regulation in the virtual synchronous machine control mode of the second converter is inverted and summed with the first power difference value to be used as the first mechanical power which is subjected to active regulation in the virtual synchronous machine control mode of the first converter; the first mechanical power and the second mechanical power are used for generating the electrical angle of the alternating current of the first converter and the second converter.
According to the invention, when the first converter performs direct-current voltage control and the second converter performs active power control and double-end alternating-current system frequency control, the two converter stations also perform reactive power regulation respectively, so that the voltage and frequency stability of the alternating-current system can be effectively improved, the running reliability of the direct-current system is ensured, meanwhile, seamless switching of networking/island working conditions can be realized without control mode regulation, and the method has good technical advancement.
Drawings
FIG. 1 is a schematic circuit diagram of a prior art virtual synchronous generator;
FIG. 2 is a schematic diagram of active-frequency control of a prior art virtual synchronous generator;
FIG. 3 is a schematic diagram of a back-to-back VSC-HVDC system virtual synchronous machine control scheme;
FIG. 4 is a detailed diagram of the virtual synchronous machine ontology algorithm module.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
The embodiment of the back-to-back direct current power transmission system based on the virtual synchronous machine comprises the following steps:
the VSC-HVDC system shown in FIG. 3 comprises two VSC converters1And VSC2Wherein the VSC1Being a first converter, the active regulating part of which is controlled by a direct voltage, VSC2The active regulation part of the second converter is active power control. VSC1And VSC2The control system comprises a virtual synchronous machine control part and a current control and modulation part. The virtual synchronous machine control part is composed of a first active adjusting module, a first passive adjusting module, a second active adjusting module, a second reactive adjusting module and a virtual synchronous machine body algorithm module, and the specific process of the virtual synchronous machine body algorithm is shown in fig. 4. VSCi(wherein i is 1 or 2) current instruction i output by the virtual synchronous machine body algorithm moduleabciAnd alternating current angle thetaiAs input to the subsequent stage part, and closed-loop controlled to generate VSCiI aboveabciAnd thetaiIn (1) is 1 or 2, iabc1Is firstConverter VSC1Output alternating current command, iabc2For the second converter VSC2Output alternating current command, theta1Is a first converter VSC1Phase angle of output, θ2For the second converter VSC2The phase angle of the output.
VSC1The first active power regulating module comprises a direct current voltage closed-loop control for maintaining the stability of the direct current voltage of the system, and the adopted control algorithm is as follows: the actual value U of the direct current voltagedcrefAnd the set instruction value UdcrefMaking a difference, and adjusting by a proportional integral regulator to obtain an active power adjustment quantity delta P1As the first power difference, the first power difference is compared with the VSC2Actively regulated mechanical power Pm2Is added to obtain the VSC1First mechanical power P for active regulationm1。
VSC1In the first idle adjustment module, the set first idle instruction Qref1First actual reactive power Q detected with the first converter1Differencing, multiplying by a first reactive adjustment factor kq1Obtaining the VSC1A reference voltage first regulation difference; a first voltage command U to be setacref1Actual AC voltage U detected with the first converterac1Making difference, and adjusting by a regulator AVR to obtain VSC1A reference voltage second regulation difference; VSC1First regulation difference value of reference voltage, VSC1The second regulation difference of the reference voltage and the set first voltage instruction E1Summing to generate a reference voltage amplitude E of the first converterp1。
VSC2The second active power adjusting module comprises a power setting instruction PrefAnd a frequency modulation control link, which is used for controlling the active power flow of the direct current system and simultaneously carrying out frequency support control of the double-end alternating current system, and adopts a control algorithm as follows: the first frequency command value fref1And VSC1Frequency of (f) is actually measured1Making a difference, and adjusting by a proportional controller to obtain a first active power adjustment power difference value delta P for active power adjustmentf1At the same time, VSC2Second frequency command value fref2With the actual measured value f of the frequency2Making a difference, and obtaining a second active power regulation power difference value delta P for active power regulation through the proportional controllerf2，△Pf1、△Pf2And the set active power instruction PrefAdd as VSC2Second mechanical power P for active regulationm2。
VSC2In the second reactive power regulation module, a set second reactive power instruction Qref2Second actual reactive power Q detected with the second converter2Differencing and multiplying by a second reactive power regulation coefficient kq2Obtaining the VSC2A reference voltage first regulation difference; the set second voltage instruction Uacref2Actual AC voltage U detected with the second inverterac2Making difference, and adjusting by a regulator AVR to obtain VSC2A reference voltage second regulation difference; VSC2First regulation difference value of reference voltage, VSC2The second regulation difference of the reference voltage and the set second voltage instruction E2Summing to generate a reference voltage amplitude E for the second converterp2。
Due to VSC1And VSC2And a back-to-back wiring mode is adopted, so that the frequency measurement value and the mechanical power instruction are interactively transmitted between the two devices, and the timeliness and the convenience are realized.
VSC-HVDC system double-end networking operation2Regulating active power command PrefTo change the active power flow transmission with the local end AC system, the VSC maintains the stability of the DC voltage of the system1The power needs to be adjusted synchronously, and under the control scheme of the invention patent, the active power command needing to be adjusted is added to the mechanical power command P as a feedforward termm1In the middle, therefore, the direct-current voltage closed-loop control part only needs to output small delta P1The fluctuating power in the transient state adjusting process can be compensated, and based on the scheme, the direct-current voltage stability of the system is well guaranteed, so that the operation reliability of the system is guaranteed.
In addition, if any end alternating current system generates transient power disturbanceAnd cause the frequency of the AC system to fluctuate, then VSC2The second mechanical power P can be timely adjusted according to the frequency fluctuation condition of the double-end systemm2Namely, the active power flow of the VSC-HVDC system is regulated, so that the power disturbance of the system is shared to inhibit the fluctuation of the frequency of the double-end alternating current system, and the frequency stability of the double-end alternating current system is improved.
When the alternating current system fault at any end of the back-to-back VSC-HVDC system enters an island working condition, the active output of the VSC-HVDC can be rapidly adjusted by the action of the rotary inertia in the virtual synchronous machine body algorithm of each end converter station, so that the rapid change of the system frequency is inhibited. At the same time, VSC2The frequency control in the active power regulation module and the alternating voltage control in each station reactive power regulation module can reduce the fluctuation quantity of the frequency and the voltage amplitude of an alternating current system at an island end by changing the mechanical power and the alternating voltage amplitude, thereby ensuring the stability of the alternating current system under the island working condition and realizing the smooth and seamless networking/island working condition switching. Likewise, VSC1Will still be at Pm2The direct current voltage of the system is rapidly stabilized under the feedforward action, so that the operation reliability of the system is guaranteed.
By combining the analysis, the virtual synchronous machine control scheme of the back-to-back VSC-HVDC system provided by the invention can effectively improve the voltage and frequency stability of the alternating current system, ensure the running reliability of the direct current system, realize the seamless switching of networking/island working conditions without control mode adjustment and has good technical advancement.
The invention also provides a back-to-back direct current power transmission system control method based on the virtual synchronous machine, which comprises the following steps: the direct current transmission system is controlled by a virtual synchronous machine, wherein the first current converter and the second current converter generate respective mechanical power and reference voltage amplitude values through respective active regulation and reactive regulation, and modulation waves for controlling the first current converter and the second current converter are generated through a virtual synchronous machine body algorithm; the collected actual direct current voltage is differed from a set direct current voltage command and is adjusted by an adjuster to generate a first power difference value; and the mechanical power of the second converter is inverted and is summed with the first power difference value to be used as the mechanical power of the first converter.
The above-mentioned back-to-back dc power transmission system control method is actually the control method adopted in the embodiment of the back-to-back dc power transmission system based on the virtual synchronous machine of the present invention, and the description of the control method in the above-mentioned embodiment is sufficiently clear and complete, so detailed description of the embodiment of the back-to-back converter control method is not repeated.
The above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the same, and after reading the present application, those skilled in the art will make various modifications or alterations of the present invention with reference to the above embodiments within the scope of the claims of the present patent application.

Claims (8)

1.一种基于虚拟同步机的背靠背直流输电系统控制方法，其特征在于，包括以下步骤：1. a back-to-back direct current transmission system control method based on virtual synchronous machine, is characterized in that, comprises the following steps: 所述直流输电系统采用虚拟同步机控制，其中设置的第一换流器和第二换流器分别通过各自的有功调节、无功调节，生成各自的机械功率和参考电压幅值，经过虚拟同步机本体算法，分别生成控制第一换流器和第二换流器的调制波；The DC power transmission system is controlled by a virtual synchronous machine, wherein the first inverter and the second inverter are set to generate their own mechanical power and reference voltage amplitude through their respective active power adjustment and reactive power adjustment. Algorithm of the machine body, respectively generating modulated waves to control the first inverter and the second inverter; 其中，采集的实际直流电压与设定的直流电压指令的差值，经调节器调节，生成第一功率差值；将第二换流器的机械功率取反，并与所述第一功率差值求和，作为第一换流器的机械功率；Among them, the difference between the collected actual DC voltage and the set DC voltage command is adjusted by the regulator to generate a first power difference; the mechanical power of the second converter is inverted, and the first power difference The values are summed up as the mechanical power of the first inverter; 通过将设定的功率指令、根据第二换流器的频率控制器获得的第二有功调节功率差值、以及根据第一换流器的频率控制器获得的第一有功调节功率差值进行求和，得到所述第二换流器的机械功率。By calculating the set power command, the second active adjustment power difference obtained according to the frequency controller of the second inverter, and the first active adjustment power difference obtained according to the frequency controller of the first inverter And, the mechanical power of the second inverter is obtained. 2.根据权利要求1所述的基于虚拟同步机的背靠背直流输电系统控制方法，其特征在于，将设定的第二频率指令，与第二换流器检测的第二实际频率作差，乘以第二有功调节系数，得到所述第二有功调节功率差值；将设定的第一频率指令，与第一换流器检测的第一实际频率作差，乘以第一有功调节系数，得到所述第一有功调节功率差值。2. The method for controlling a back-to-back DC power transmission system based on a virtual synchronous machine according to claim 1, wherein the set second frequency command is compared with the second actual frequency detected by the second converter, and multiplied by The second active power adjustment coefficient is used to obtain the second active power adjustment power difference; the set first frequency command and the first actual frequency detected by the first inverter are multiplied by the first active power adjustment coefficient, The first active adjustment power difference is obtained. 3.根据权利要求1-2任一项所述的基于虚拟同步机的背靠背直流输电系统控制方法，其特征在于，所述第一换流器的无功调节包括以下子步骤：3. The virtual synchronous machine-based back-to-back direct current transmission system control method according to any one of claims 1-2, wherein the reactive power adjustment of the first converter comprises the following sub-steps: 将设定的第一无功指令、与第一换流器检测的第一实际无功功率作差，乘以第一无功调节系数，得到第一换流器参考电压第一调节差值；将设定的第一电压指令、与第一换流器检测的实际交流电压作差，经过调节器调节，得到第一换流器参考电压第二调节差值；A difference between the set first reactive power command and the first actual reactive power detected by the first inverter is multiplied by the first reactive power adjustment coefficient to obtain a first adjustment difference value of the reference voltage of the first inverter; Making a difference between the set first voltage command and the actual AC voltage detected by the first inverter, and adjusting by the regulator to obtain the second adjustment difference value of the reference voltage of the first inverter; 将所述第一换流器参考电压第一调节差值、第一换流器参考电压第二调节差值、与设定的第一电压指令求和，生成第一换流器的参考电压幅值。Summing the first adjustment difference value of the first inverter reference voltage, the second adjustment difference value of the first inverter reference voltage, and the set first voltage command to generate the reference voltage amplitude of the first inverter value. 4.根据权利要求1-2任一项所述的基于虚拟同步机的背靠背直流输电系统控制方法，其特征在于，所述第二换流器的无功调节包括以下子步骤：4. The method for controlling a back-to-back DC power transmission system based on a virtual synchronous machine according to any one of claims 1-2, wherein the reactive power adjustment of the second converter comprises the following sub-steps: 将设定的第二无功指令、与第二换流器检测的第二实际无功功率作差，乘以第二无功调节系数，得到第二换流器参考电压第一调节差值；将设定的第二电压指令、与第二换流器检测的实际交流电压作差，经过调节器调节，得到第二换流器参考电压第二调节差值；The difference between the set second reactive power command and the second actual reactive power detected by the second inverter is multiplied by the second reactive power adjustment coefficient to obtain the first adjustment difference value of the reference voltage of the second inverter; Making a difference between the set second voltage command and the actual AC voltage detected by the second inverter, and adjusting by the regulator to obtain the second adjustment difference value of the reference voltage of the second inverter; 将第二换流器参考电压第一调节差值、第二换流器参考电压第二调节差值、与设定的第二电压指令求和，生成第二换流器的参考电压幅值。The first adjustment difference of the second inverter reference voltage, the second adjustment difference of the second inverter reference voltage, and the set second voltage command are summed to generate the reference voltage amplitude of the second inverter. 5.一种基于虚拟同步机的背靠背直流输电系统，包括两个直流侧直接连接的第一换流器和第二换流器，其特征在于，还包括第一有功调节模块、第二有功调节模块、虚拟同步机本体算法模块；5. A back-to-back DC power transmission system based on a virtual synchronous machine, comprising a first converter and a second converter that are directly connected to two DC sides, characterized in that it also includes a first active power adjustment module, a second active power adjustment module Module, virtual synchronous machine ontology algorithm module; 第二有功调节模块：用于生成第二换流器的机械功率；The second active power regulation module: for generating the mechanical power of the second inverter; 第一有功调节模块：用于将采集的实际直流电压与设定的直流电压指令的差值，经调节器调节，生成第一功率差值；将第二换流器的机械功率取反，并与所述第一功率差值求和，作为第一换流器的机械功率；The first active power adjustment module is used to adjust the difference between the collected actual DC voltage and the set DC voltage command through the regulator to generate a first power difference; invert the mechanical power of the second converter, and generate a first power difference. summing with the first power difference as the mechanical power of the first inverter; 虚拟同步机本体算法模块：用于根据第一有功调节模块、第二有功调节模块的输出，分别生成第一换流器和第二换流器的交流电流指令及相角；Virtual synchronous machine body algorithm module: used to generate AC current commands and phase angles of the first inverter and the second inverter respectively according to the outputs of the first active power adjustment module and the second active power adjustment module; 所述第二有功调节模块还用于通过将设定的功率指令、根据第二换流器的频率控制器获得的第二有功调节功率差值、以及根据第一换流器的频率控制器获得的第一有功调节功率差值进行求和，得到所述第二换流器的机械功率。The second active power adjustment module is also used for obtaining the set power command, the second active power adjustment power difference obtained according to the frequency controller of the second inverter, and the frequency controller of the first inverter. The first active regulation power difference is summed to obtain the mechanical power of the second inverter. 6.根据权利要求5所述的基于虚拟同步机的背靠背直流输电系统，其特征在于，将设定的第二频率指令，与第二换流器检测的第二实际频率作差，乘以第二有功调节系数，得到所述第二有功调节功率差值；将设定的第一频率指令，与第一换流器检测的第一实际频率作差，乘以第一有功调节系数，得到所述第一有功调节功率差值。6 . The back-to-back DC power transmission system based on virtual synchronous machine according to claim 5 , wherein the set second frequency command is compared with the second actual frequency detected by the second inverter, and multiplied by the first frequency. 7 . Two active power adjustment coefficients, to obtain the second active power adjustment power difference; the set first frequency command, and the first actual frequency detected by the first inverter, multiplied by the first active power adjustment coefficient to obtain the The first active adjustment power difference is described. 7.根据权利要求5-6任一项所述的基于虚拟同步机的背靠背直流输电系统，其特征在于，还包括第一无功调节模块：用于将设定的第一无功指令、与第一换流器检测的第一实际无功功率作差，乘以第一无功调节系数，得到第一换流器参考电压第一调节差值；将设定的第一电压指令、与第一换流器检测的实际交流电压作差，经过调节器调节，得到第一换流器参考电压第二调节差值；将所述第一换流器参考电压第一调节差值、第一换流器参考电压第二调节差值、与设定的第一电压指令求和，生成第一换流器的参考电压幅值。7. The virtual synchronous machine-based back-to-back direct current power transmission system according to any one of claims 5-6, characterized in that, further comprising a first reactive power adjustment module: used to adjust the set first reactive power command with The difference of the first actual reactive power detected by the first inverter is multiplied by the first reactive power adjustment coefficient to obtain the first adjustment difference value of the reference voltage of the first inverter; The difference of the actual AC voltage detected by an inverter is adjusted by the regulator to obtain the second adjustment difference of the reference voltage of the first inverter; the first adjustment difference and the first adjustment difference of the reference voltage of the first inverter are The second adjustment difference of the converter reference voltage is summed with the set first voltage command to generate the reference voltage amplitude of the first converter. 8.根据权利要求5-6任一项所述的基于虚拟同步机的背靠背直流输电系统，其特征在于，还包括第二无功调节模块：用于将设定的第二无功指令、与第二换流器检测的第二实际无功功率作差，乘以第二无功调节系数，得到第二换流器参考电压第一调节差值；将设定的第二电压指令、与第二换流器检测的实际交流电压作差，经过调节器调节，得到第二换流器参考电压第二调节差值；将所述第二换流器参考电压第一调节差值、第二换流器参考电压第二调节差值、与设定的第二电压指令求和，生成第二换流器的参考电压幅值。8. The virtual synchronous machine-based back-to-back DC power transmission system according to any one of claims 5-6, characterized in that, further comprising a second reactive power adjustment module: used to adjust the set second reactive power command with The difference of the second actual reactive power detected by the second inverter is multiplied by the second reactive power adjustment coefficient to obtain the first adjustment difference value of the reference voltage of the second inverter; The difference between the actual AC voltage detected by the two inverters is adjusted by the regulator to obtain the second adjustment difference of the reference voltage of the second inverter; the first adjustment difference and the second adjustment difference of the reference voltage of the second inverter are The second adjustment difference of the converter reference voltage is summed with the set second voltage command to generate the reference voltage amplitude of the second converter.
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